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TransferReceiver tests fixed, 17 to go

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This commit is contained in:
Pavel Kirienko
2015-07-03 02:41:27 +03:00
parent 19cd458ae6
commit c56458c73d
4 changed files with 83 additions and 78 deletions
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libuavcan/include/uavcan/transport/frame.hpp
+1 -1
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@@ -67,7 +67,7 @@ public:
* Max payload length depends on the transfer type and frame index. * Max payload length depends on the transfer type and frame index.
*/ */
uint8_t getPayloadCapacity() const { return PayloadCapacity; } uint8_t getPayloadCapacity() const { return PayloadCapacity; }
int setPayload(const uint8_t* data, unsigned len); uint8_t setPayload(const uint8_t* data, unsigned len);
unsigned getPayloadLen() const { return payload_len_; } unsigned getPayloadLen() const { return payload_len_; }
const uint8_t* getPayloadPtr() const { return payload_; } const uint8_t* getPayloadPtr() const { return payload_; }
libuavcan/src/transport/uc_frame.cpp
+2 -2
View File
@@ -13,13 +13,13 @@ namespace uavcan
/** /**
* Frame * Frame
*/ */
int Frame::setPayload(const uint8_t* data, unsigned len) uint8_t Frame::setPayload(const uint8_t* data, unsigned len)
{ {
const uint8_t maxlen = getPayloadCapacity(); const uint8_t maxlen = getPayloadCapacity();
len = min(unsigned(maxlen), len); len = min(unsigned(maxlen), len);
(void)copy(data, data + len, payload_); (void)copy(data, data + len, payload_);
payload_len_ = uint_fast8_t(len); payload_len_ = uint_fast8_t(len);
return int(len); return static_cast<uint8_t>(len);
} }
template <int OFFSET, int WIDTH> template <int OFFSET, int WIDTH>
libuavcan/src/transport/uc_transfer_receiver.cpp
+1
View File
@@ -192,6 +192,7 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, Tr
(frame.getMonotonicTimestamp() < prev_transfer_ts_) || (frame.getMonotonicTimestamp() < prev_transfer_ts_) ||
(frame.getMonotonicTimestamp() < this_transfer_ts_)) (frame.getMonotonicTimestamp() < this_transfer_ts_))
{ {
UAVCAN_TRACE("TransferReceiver", "Invalid frame, %s", frame.toString().c_str());
return ResultNotComplete; return ResultNotComplete;
} }
libuavcan/test/transport/transfer_receiver.cpp
+79 -75
View File
@@ -60,8 +60,11 @@ struct RxFrameGenerator
EXPECT_EQ(data.length(), EXPECT_EQ(data.length(),
frame.setPayload(reinterpret_cast<const uint8_t*>(data.c_str()), unsigned(data.length()))); frame.setPayload(reinterpret_cast<const uint8_t*>(data.c_str()), unsigned(data.length())));
return uavcan::RxFrame(frame, uavcan::MonotonicTime::fromUSec(ts_monotonic), uavcan::RxFrame output(frame, uavcan::MonotonicTime::fromUSec(ts_monotonic),
uavcan::UtcTime::fromUSec(ts_utc), iface_index); uavcan::UtcTime::fromUSec(ts_utc), iface_index);
std::cout << "Generated frame: " << output.toString() << std::endl;
return output;
} }
}; };
@@ -142,10 +145,10 @@ TEST(TransferReceiver, Basic)
* Valid compound transfer * Valid compound transfer
* Args: iface_index, data, set, transfer_id, ts_monotonic * Args: iface_index, data, set, transfer_id, ts_monotonic
*/ */
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "\x34\x12" "345678", SET100, 0, 100), bk)); CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "\x34\x12" "34567", SET100, 0, 100), bk));
CHECK_COMPLETE( rcv.addFrame(gen(0, "foo", SET011, 0, 200), bk)); CHECK_COMPLETE( rcv.addFrame(gen(0, "foo", SET011, 0, 200), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678foo")); ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567foo"));
ASSERT_EQ(0x1234, rcv.getLastTransferCrc()); ASSERT_EQ(0x1234, rcv.getLastTransferCrc());
ASSERT_EQ(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval()); // Not initialized yet ASSERT_EQ(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval()); // Not initialized yet
ASSERT_EQ(100, rcv.getLastTransferTimestampMonotonic().toUSec()); ASSERT_EQ(100, rcv.getLastTransferTimestampMonotonic().toUSec());
@@ -154,18 +157,18 @@ TEST(TransferReceiver, Basic)
* Compound transfer mixed with invalid frames; buffer was not released explicitly * Compound transfer mixed with invalid frames; buffer was not released explicitly
* Args: iface_index, data, set, transfer_id, ts_monotonic * Args: iface_index, data, set, transfer_id, ts_monotonic
*/ */
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", SET100, 0, 300), bk)); // Previous TID, rejected CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", SET100, 0, 300), bk)); // Previous TID, rejected
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "rty", SET100, 0, 300), bk)); // Previous TID, wrong iface CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "rty", SET100, 0, 300), bk)); // Previous TID, wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "\x9a\x78" "345678", SET100, 1, 1000), bk)); CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "\x9a\x78" "34567", SET100, 1, 1000), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", SET100, 1, 1100), bk)); // Old toggle CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyu", SET100, 1, 1100), bk)); // Old toggle
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", SET000, 1, 1100), bk)); // Old toggle CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyu", SET000, 1, 1100), bk)); // Old toggle
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "abcdefgh", SET001, 1, 1200), bk)); CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "abcdefg", SET001, 1, 1200), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "45678910", SET001, 2, 1300), bk)); // Next TID, but not SOT CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "4567891", SET001, 2, 1300), bk)); // Next TID, but not SOT
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", SET010, 1, 1300), bk)); // Wrong iface CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "", SET010, 1, 1300), bk)); // Wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", SET000, 1, 1300), bk)); // Unexpected toggle CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "", SET001, 1, 1300), bk)); // Unexpected toggle
CHECK_COMPLETE( rcv.addFrame(gen(0, "", SET010, 1, 1300), bk)); CHECK_COMPLETE( rcv.addFrame(gen(0, "", SET010, 1, 1300), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678abcdefgh")); ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567abcdefg"));
ASSERT_EQ(0x789A, rcv.getLastTransferCrc()); ASSERT_EQ(0x789A, rcv.getLastTransferCrc());
ASSERT_GE(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval()); ASSERT_GE(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval());
ASSERT_LE(TransferReceiver::getMinTransferInterval(), rcv.getInterval()); ASSERT_LE(TransferReceiver::getMinTransferInterval(), rcv.getInterval());
@@ -221,28 +224,28 @@ TEST(TransferReceiver, Basic)
std::cout << "Interval: " << rcv.getInterval().toString() << std::endl; std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", SET110, 0, 100000100), bk)); CHECK_SINGLE_FRAME(rcv.addFrame(gen(0, "qwe", SET110, 8, 100000100), bk));
ASSERT_EQ(100000100, rcv.getLastTransferTimestampMonotonic().toUSec()); ASSERT_EQ(100000100, rcv.getLastTransferTimestampMonotonic().toUSec());
std::cout << "Interval: " << rcv.getInterval().toString() << std::endl; std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
ASSERT_TRUE(rcv.isTimedOut(tsMono(900000000))); ASSERT_TRUE(rcv.isTimedOut(tsMono(900000000)));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "\x78\x56" "345678", SET100, 0, 900000000), bk)); // Global timeout CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "\x78\x56" "34567", SET100, 0, 900000000), bk)); // Global timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", SET100, 0, 900000100), bk)); // Wrong iface CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, 0, 900000100), bk)); // Wrong iface
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", SET011, 0, 900000200), bk)); // Wrong iface CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwe", SET011, 0, 900000200), bk)); // Wrong iface
CHECK_COMPLETE( rcv.addFrame(gen(1, "qwe", SET011, 0, 900000200), bk)); CHECK_COMPLETE( rcv.addFrame(gen(1, "qwe", SET011, 0, 900000200), bk));
ASSERT_EQ(900000000, rcv.getLastTransferTimestampMonotonic().toUSec()); ASSERT_EQ(900000000, rcv.getLastTransferTimestampMonotonic().toUSec());
std::cout << "Interval: " << rcv.getInterval().toString() << std::endl; std::cout << "Interval: " << rcv.getInterval().toString() << std::endl;
ASSERT_FALSE(rcv.isTimedOut(tsMono(1000))); ASSERT_FALSE(rcv.isTimedOut(tsMono(1000)));
ASSERT_FALSE(rcv.isTimedOut(tsMono(900000300))); ASSERT_FALSE(rcv.isTimedOut(tsMono(900000300)));
ASSERT_TRUE(rcv.isTimedOut(tsMono(990000000))); ASSERT_TRUE(rcv.isTimedOut(tsMono(9990000000)));
ASSERT_LT(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval()); ASSERT_LT(TransferReceiver::getDefaultTransferInterval(), rcv.getInterval());
ASSERT_LE(TransferReceiver::getMinTransferInterval(), rcv.getInterval()); ASSERT_LE(TransferReceiver::getMinTransferInterval(), rcv.getInterval());
ASSERT_GE(TransferReceiver::getMaxTransferInterval(), rcv.getInterval()); ASSERT_GE(TransferReceiver::getMaxTransferInterval(), rcv.getInterval());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwe")); ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567qwe"));
ASSERT_EQ(0x5678, rcv.getLastTransferCrc()); ASSERT_EQ(0x5678, rcv.getLastTransferCrc());
/* /*
@@ -265,24 +268,24 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
/* /*
* Simple transfer, maximum buffer length * Simple transfer, maximum buffer length
*/ */
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, 1, 100000000), bk)); // 6 CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 1, 100000000), bk)); // 5
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET001, 1, 100000100), bk)); // 14 CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET001, 1, 100000100), bk)); // 12
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET000, 1, 100000200), bk)); // 22 CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET000, 1, 100000200), bk)); // 19
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET001, 1, 100000300), bk)); // 30 CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET001, 1, 100000300), bk)); // 26
CHECK_COMPLETE( rcv.addFrame(gen(1, "12", SET010, 1, 100000400), bk)); // 32 CHECK_COMPLETE( rcv.addFrame(gen(1, "123456", SET010, 1, 100000400), bk)); // 32
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec()); ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567812345678123456781234567812")); ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567123456712345671234567123456"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc()); // CRC from "12", which is 0x3231 in little endian ASSERT_EQ(0x3231, rcv.getLastTransferCrc()); // CRC from "12", which is 0x3231 in little endian
/* /*
* Transfer longer than available buffer space * Transfer longer than available buffer space
*/ */
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, 2, 100001000), bk)); // 6 CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 2, 100001000), bk)); // 5
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET001, 2, 100001100), bk)); // 14 CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET001, 2, 100001100), bk)); // 12
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET000, 2, 100001200), bk)); // 22 CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET000, 2, 100001200), bk)); // 19
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET001, 2, 100001200), bk)); // 30 CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET001, 2, 100001200), bk)); // 26
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET010, 2, 100001300), bk)); // 38 // EOT, ignored - lost sync CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET010, 2, 100001300), bk)); // 33 // EOT, ignored - lost sync
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec()); // Timestamp will not be overriden ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec()); // Timestamp will not be overriden
ASSERT_FALSE(bufmgr.access(gen.bufmgr_key)); // Buffer should be removed ASSERT_FALSE(bufmgr.access(gen.bufmgr_key)); // Buffer should be removed
@@ -300,15 +303,15 @@ TEST(TransferReceiver, OutOfOrderFrames)
uavcan::ITransferBufferManager& bufmgr = context.bufmgr; uavcan::ITransferBufferManager& bufmgr = context.bufmgr;
uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY); uavcan::TransferBufferAccessor bk(context.bufmgr, RxFrameGenerator::DEFAULT_KEY);
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, 7, 100000000), bk)); CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 7, 100000000), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", SET001, 7, 100000100), bk)); // Out of order CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET000, 7, 100000100), bk)); // Out of order
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", SET010, 7, 100000200), bk)); // Out of order CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET010, 7, 100000200), bk)); // Out of order
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", SET001, 7, 100000300), bk)); CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyu", SET001, 7, 100000300), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", SET010, 7, 100000200), bk)); // Out of order CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET011, 7, 100000200), bk)); // Out of order
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, 7, 100000400), bk)); CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, 7, 100000400), bk));
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec()); ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd")); ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567qwertyuabcd"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc()); ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
ASSERT_EQ(3, rcv.yieldErrorCount()); ASSERT_EQ(3, rcv.yieldErrorCount());
@@ -330,11 +333,11 @@ TEST(TransferReceiver, IntervalMeasurement)
for (int i = 0; i < 1000; i++) for (int i = 0; i < 1000; i++)
{ {
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, tid.get(), timestamp), bk)); CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, tid.get(), timestamp), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", SET001, tid.get(), timestamp), bk)); CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyu", SET001, tid.get(), timestamp), bk));
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, tid.get(), timestamp), bk)); CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, tid.get(), timestamp), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd")); ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567qwertyuabcd"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc()); ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
ASSERT_EQ(timestamp, rcv.getLastTransferTimestampMonotonic().toUSec()); ASSERT_EQ(timestamp, rcv.getLastTransferTimestampMonotonic().toUSec());
@@ -356,34 +359,35 @@ TEST(TransferReceiver, Restart)
/* /*
* This transfer looks complete, but must be ignored because of large delay after the first frame * This transfer looks complete, but must be ignored because of large delay after the first frame
* Args: iface_index, data, set, transfer_id, ts_monotonic [, ts_utc]
*/ */
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", SET100, 0, 100), bk)); // Begin CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET100, 0, 100), bk)); // Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", SET001, 0, 10000100), bk)); // Continue 10 sec later, expired CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET001, 0, 100000100), bk)); // Continue 100 sec later, expired
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", SET010, 0, 10000200), bk)); // Ignored CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET010, 0, 100000200), bk)); // Ignored
/* /*
* Begins immediately after, gets an iface timeout but completes OK * Begins immediately after, gets an iface timeout but completes OK
*/ */
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, 0, 10000300), bk)); // Begin CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 0, 100000300), bk)); // Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET001, 0, 12000300), bk)); // 2 sec later, iface timeout CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET001, 0, 102000300), bk)); // 2 sec later, iface timeout
CHECK_COMPLETE( rcv.addFrame(gen(1, "12345678", SET010, 0, 12000400), bk)); // OK nevertheless CHECK_COMPLETE( rcv.addFrame(gen(1, "1234567", SET010, 0, 102000400), bk)); // OK nevertheless
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456781234567812345678")); ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456712345671234567"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc()); ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
/* /*
* Begins OK, gets an iface timeout, switches to another iface * Begins OK, gets an iface timeout, switches to another iface
*/ */
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", SET100, 1, 13000500), bk)); // Begin CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET100, 1, 103000500), bk)); // Begin
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", SET001, 1, 16000500), bk)); // 3 sec later, iface timeout CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET001, 1, 106000500), bk)); // 3 sec later, iface timeout
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", SET001, 1, 16000600), bk)); // Same TID, another iface - ignore CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET001, 1, 106000600), bk)); // Same TID, another iface - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "--------", SET001, 2, 16000700), bk)); // Not first frame - ignore CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "-------", SET001, 2, 106000700), bk)); // Not first frame - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", SET100, 2, 16000800), bk)); // First, another iface - restart CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, 2, 106000800), bk)); // First, another iface - restart
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "--------", SET010, 1, 16000600), bk)); // Old iface - ignore CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "-------", SET010, 1, 106000600), bk)); // Old iface - ignore
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", SET001, 2, 16000900), bk)); // Continuing CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET001, 2, 106000900), bk)); // Continuing
CHECK_COMPLETE( rcv.addFrame(gen(0, "12345678", SET010, 2, 16000910), bk)); // Done CHECK_COMPLETE( rcv.addFrame(gen(0, "1234567", SET010, 2, 106000910), bk)); // Done
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456781234567812345678")); ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456712345671234567"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc()); ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
ASSERT_EQ(1, rcv.yieldErrorCount()); ASSERT_EQ(1, rcv.yieldErrorCount());
@@ -402,22 +406,22 @@ TEST(TransferReceiver, UtcTransferTimestamping)
/* /*
* Zero UTC timestamp must be preserved * Zero UTC timestamp must be preserved
*/ */
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, 0, 1, 0), bk)); CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 0, 1, 0), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", SET001, 0, 2, 0), bk)); CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyu", SET001, 0, 2, 0), bk));
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, 0, 3, 0), bk)); CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, 0, 3, 0), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd")); ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567qwertyuabcd"));
ASSERT_EQ(1, rcv.getLastTransferTimestampMonotonic().toUSec()); ASSERT_EQ(1, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_EQ(0, rcv.getLastTransferTimestampUtc().toUSec()); ASSERT_EQ(0, rcv.getLastTransferTimestampUtc().toUSec());
/* /*
* Non-zero UTC timestamp * Non-zero UTC timestamp
*/ */
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "12345678", SET100, 1, 4, 123), bk)); // This UTC is going to be preserved CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "1234567", SET100, 1, 4, 123), bk)); // This UTC is going to be preserved
CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyui", SET001, 1, 5, 0), bk)); // Following are ignored CHECK_NOT_COMPLETE(rcv.addFrame(gen(1, "qwertyu", SET001, 1, 5, 0), bk)); // Following are ignored
CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, 1, 6, 42), bk)); CHECK_COMPLETE( rcv.addFrame(gen(1, "abcd", SET010, 1, 6, 42), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd")); ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567qwertyuabcd"));
ASSERT_EQ(4, rcv.getLastTransferTimestampMonotonic().toUSec()); ASSERT_EQ(4, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_EQ(123, rcv.getLastTransferTimestampUtc().toUSec()); ASSERT_EQ(123, rcv.getLastTransferTimestampUtc().toUSec());
@@ -425,18 +429,18 @@ TEST(TransferReceiver, UtcTransferTimestamping)
* Single-frame transfers * Single-frame transfers
* iface_index, data, set, transfer_id, ts_monotonic * iface_index, data, set, transfer_id, ts_monotonic
*/ */
CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "abc", SET100, 2, 10, 100000000), bk)); // Exact value is irrelevant CHECK_SINGLE_FRAME(rcv.addFrame(gen(1, "abc", SET110, 2, 10, 100000000), bk)); // Exact value is irrelevant
ASSERT_EQ(10, rcv.getLastTransferTimestampMonotonic().toUSec()); ASSERT_EQ(10, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_EQ(100000000, rcv.getLastTransferTimestampUtc().toUSec()); ASSERT_EQ(100000000, rcv.getLastTransferTimestampUtc().toUSec());
/* /*
* Restart recovery * Restart recovery
*/ */
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", SET100, 1, 100000000, 800000000), bk)); CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, 1, 100000000, 800000000), bk));
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyui", SET001, 1, 100000001, 300000000), bk)); CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "qwertyu", SET001, 1, 100000001, 300000000), bk));
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", SET010, 1, 100000002, 900000000), bk)); CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", SET010, 1, 100000002, 900000000), bk));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd")); ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567qwertyuabcd"));
ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec()); ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
ASSERT_EQ(800000000, rcv.getLastTransferTimestampUtc().toUSec()); ASSERT_EQ(800000000, rcv.getLastTransferTimestampUtc().toUSec());
} }
@@ -465,10 +469,10 @@ TEST(TransferReceiver, HeaderParsing)
uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), uavcan::TransferTypeMessageBroadcast); uavcan::TransferBufferManagerKey(gen.bufmgr_key.getNodeID(), uavcan::TransferTypeMessageBroadcast);
uavcan::TransferBufferAccessor bk1(context.bufmgr, gen.bufmgr_key); uavcan::TransferBufferAccessor bk1(context.bufmgr, gen.bufmgr_key);
CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "12345678", SET100, tid.get(), 1), bk1)); CHECK_NOT_COMPLETE(rcv.addFrame(gen(0, "1234567", SET100, tid.get(), 1), bk1));
CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", SET011, tid.get(), 2), bk1)); CHECK_COMPLETE( rcv.addFrame(gen(0, "abcd", SET011, tid.get(), 2), bk1));
ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678abcd")); ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "34567abcd"));
ASSERT_EQ(0x3231, rcv.getLastTransferCrc()); ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
tid.increment(); tid.increment();